The second example (CANopen read/write functions in LibAsCanOpen2_st.zip) can be used as a starting point for this. You can just change this code to match your setup. The steps are:
- Register the COB-ID with CANopenRegisterCOBID
- Start all nodes with CANopenNMT
- Read the PDO with CANopenPDORead8
The COB-ID is an input to both the CANopenRegisterCOBID and the CANopenPDORead8 function blocks. The Node is an input to the CANopenNMT function block (or 0 can be specified to start all nodes).